公开(公告)号：US11337768B2

公开(公告)日：2022-05-24

申请号：US17061785

申请日：2020-10-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tabish Mustufa ,  Heath Feather ,  Daniel H. Gomez ,  Brian D. Hoffman ,  Paul W. Mohr ,  Huan L. Phan

IPC: A61B34/35 ,  A61B90/00 ,  A61B34/00 ,  A61B34/37 ,  A61B17/00

Abstract: A method comprises displaying an image of a field of view of a surgical environment. A first medical instrument in the field of view may be coupled to a first manipulator in a teleoperational assembly. The method may comprise displaying a menu proximate to an image of the first medical instrument in the image of the field of view. The menu may include a plurality of icons wherein each icon is associated with a function for the first medical instrument. The method may also comprise identifying a selected icon from the plurality of icons based upon a movement of an operator control device of a teleoperational operator control system.

公开(公告)号：US20220054187A1

公开(公告)日：2022-02-24

申请号：US17520724

申请日：2021-11-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul W. Mohr ,  David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Salvatore J. Brogna

IPC: A61B18/12 ,  A61B34/30 ,  A61B34/37 ,  A61B1/00

Abstract: Methods for minimally invasive electro-surgical systems are disclosed. One method includes determining if an input device is selected at a control console. If the input device is selected then, providing feedback to a user of the selection of the input device, delaying a first predetermined period of time for the user to receive the feedback, determining if the input device is deselected, and if not deselected, then activating an electrosurgical device to couple energy to tissue. If deselected, the method skips activation of the electrosurgical device. While active, a method includes determining if the input device is deselected, and if so, then deactivating the electrosurgical device, determining if the input device is reselected and if the input device is not reselected, then waiting and determining if a second predetermined period of time has lapsed prior to reselection of the input device and if not, then repeating the reselected determining step.

公开(公告)号：US11033345B2

公开(公告)日：2021-06-15

申请号：US16355517

申请日：2019-03-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

Abstract: A tele-operated system includes a platform, a manipulator supported by the platform, a support structure supporting the platform, and a processor. In a platform movement mode the processor is configured to sense a manual movement of a link of the manipulator relative to the platform that moves the link from a first to a second positional relationship relative to the platform wherein a difference between the first and second positional relationships includes a displacement having components in first, second, and third directions that are perpendicular to one another, calculate, in response to the sensed manual movement, a command for the support structure that causes the link to move in the first direction so as to reduce the displacement in the first direction and does not change the displacement in the second direction, and transmit the command to the support structure so as to move the platform and the manipulator.

公开(公告)号：US10932877B2

公开(公告)日：2021-03-02

申请号：US15126727

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Michael L. Hanuschik ,  Gerard J. Labonville ,  Paul W. Mohr ,  Tyler J. Morrissette ,  Joseph P. Orban, III

IPC: A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  A61B34/30 ,  A61B34/35 ,  A61B17/00

Abstract: A surgical drape for a patient side cart of a teleoperated surgical system may include a body and an attachment device feature. The body may be sized and shaped to cover at least a portion of an arm or main column of the patient side cart. The attachment device feature may be connected to the body. The attachment device feature may be configured to install the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. The attachment device feature may be detectable by a sensor in an installed position of the surgical drape on the arm or main column. At least one of the main column and the arm may include a sensor to detect an attachment device feature of a surgical drape.

公开(公告)号：US10905506B2

公开(公告)日：2021-02-02

申请号：US16855144

申请日：2020-04-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/37 ,  A61B90/94 ,  A61B34/00 ,  A61B90/00 ,  A61B34/10 ,  B25J9/16

Abstract: A system comprises a teleoperational assembly including an operator control system and a plurality of manipulators. A first manipulator is configured to control a medical instrument in a surgical environment. A second manipulator is configured to control an imaging instrument. The system further comprises a processing unit configured to: display an image of a field of view of the surgical environment captured by the imaging instrument; determine a position of a distal portion of the medical instrument in an image coordinate space; determine an initial position for a badge associated with the distal portion; determine a badge placement boundary, which is inside the image, for the image by determining a viewable space boundary for the image; and adjust the badge from the initial position to a display position within the badge placement boundary by determining an inset boundary between the badge placement boundary and the viewable space boundary.

公开(公告)号：US10737394B2

公开(公告)日：2020-08-11

申请号：US16161204

申请日：2018-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  G06F19/00

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

公开(公告)号：US10682191B2

公开(公告)日：2020-06-16

申请号：US15927978

申请日：2018-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce M. Schena ,  Roman L. Devengenzo ,  Scott Luke

IPC: A61B34/37 ,  B25J18/00 ,  B25J9/16 ,  A61B34/30 ,  A61B34/00 ,  A61B1/00

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

公开(公告)号：US10507066B2

公开(公告)日：2019-12-17

申请号：US13768062

申请日：2013-02-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.

公开(公告)号：US10433919B2

公开(公告)日：2019-10-08

申请号：US14585853

申请日：2014-12-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gary S. Guthart ,  David Q. Larkin ,  David J. Rosa ,  Paul W. Mohr ,  Giuseppe Maria Prisco

IPC: A61B34/30 ,  A61B1/04 ,  A61B8/12 ,  A61B17/00 ,  A61B8/00 ,  A61B90/00 ,  A61B34/20 ,  A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  A61B1/00 ,  A61B18/20 ,  A61B1/313 ,  A61B90/50 ,  A61B34/10

Abstract: Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.

公开(公告)号：US10282881B2

公开(公告)日：2019-05-07

申请号：US15946408

申请日：2018-04-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G05B19/42 ,  G06T11/40 ,  A61B34/00 ,  A61B34/20

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.